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pidUpdateCountdown set based on condition

This commit is contained in:
borisbstyle 2016-03-09 00:05:13 +01:00
parent 1187c575ed
commit 21bc85335e
1 changed files with 9 additions and 1 deletions
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10
src/main/mw.c
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@ -741,6 +741,14 @@ void taskMotorUpdate(void) {
}
}
uint8_t setPidUpdateCountDown(void) {
if (masterConfig.gyro_soft_lpf_hz) {
return masterConfig.pid_process_denom - 1;
} else {
return 1;
}
}
// Check for oneshot125 protection. With fast looptimes oneshot125 pulse duration gets more near the pid looptime
bool shouldUpdateMotorsAfterPIDLoop(void) {
if (targetPidLooptime > 375 ) {
@ -782,7 +790,7 @@ void taskMainPidLoopCheck(void) {
if (pidUpdateCountdown) {
pidUpdateCountdown--;
} else {
pidUpdateCountdown = masterConfig.pid_process_denom - 1;
pidUpdateCountdown = setPidUpdateCountDown();
taskMainPidLoop();
if (shouldUpdateMotorsAfterPIDLoop()) taskMotorUpdate();
runTaskMainSubprocesses = true;